Installa Agent on CLient PCs

I've succesfully installed SIM on a server and I'm managing all my server. Now I discovered some PC on the net (DC7100) wich probably have already Mangement Agents but now we are preparing some others pc (DC5760) but we are downgrading them to Win XP. Now I've found agents on hp support site, but I daon't understand how to manage them from SIM. Any solution?